Depth-Trim Mapping Control of Underwater Vehicle with Fins

Abstract：Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom coupling between trim and axial motion.It includes the method of dynamic analysis and lift-resistance-coefficient experiment and theory algorithm.By considering the current speed and depth deviation,comprehensive interpretation is used in object-planning instruction.Expected depth is transformed into expected trim.Dynamic output fluctuation can be avoided,which is caused by linear mapping of deviation.It is steady and accurate for the motion of controlled underwater vehicles.The feasibility and efficiency of the control method are testified in the pool and natural area for experiments. 作者： Author： LI Ye  PANG Yong-jie  HUANG Shu-ling  WAN Lei 作者單位： National Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China;College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China 期 刊： 中國(guó)海洋工程（英文版）   ISTICEISCI Journal： China Ocean Engineering 年，卷(期)： 2011, 25(4) 分類號(hào)： U674.941 Keywords： underwater vehicle    fin    motion control    depth control    機(jī)標(biāo)分類號(hào)： TP2 F83 機(jī)標(biāo)關(guān)鍵詞： Underwater Vehicle    Control    underwater vehicle    control method    depth    expected    dynamic analysis    interpretation    difficulties    experiment    method of    trim    used in    natural    mapping    freedom    theory    plays    area    fin 基金項(xiàng)目： the National 863 High Technology Development Plan Project，National Natural Science Foundation of China，the Fundamental Research Funds for the Central Universities Depth-Trim Mapping Control of Underwater Vehicle with Fins[期刊論文]  中國(guó)海洋工程（英文版） --2011, 25(4)Underwater vehicle plays an important role in ocean engineering.Depth control by fin is one of the difficulties for underwater vehicle in motion control.Depth control is indirect due to the freedom cou...

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